Methods and apparatus for process control with improved communication links

ABSTRACT

A control network carries information between nodes in a control system. For example, in one aspect of the invention, a control network includes first and second nodes, each of which is associated with at least one device in a control system, such as a controller, actuator, sensor, or otherwise. The first node is configured to wirelessly transmit information for simultaneous, or substantially simultaneous, transfer to the second node over at least two pathways. Those pathways can be made up of one or more network segments that interconnect nodes in the control network. In some cases, at least one of the at least two pathways is through a third and/or further nodes. Further, the first node can employ different radio channels, e.g., using different frequencies from one another, over at least one of the at least two pathways to transmit information to the second node.

FIELD

This patent application generally relates to process control and, moreparticularly, to methods and apparatus for networking in process controland other control systems.

BACKGROUND

Control systems typically involve the control of a device, process, orsystem by monitoring one or more of its characteristics. Control isused, for example, to insure that output, processing, quality and/orefficiency remain within desired parameters over the course of time. Inmany control systems, digital data processing or other automatedapparatus monitor the device, process or system and automatically adjustits operational parameters. In other control systems, such apparatusmonitor the device, process or system and display alarms or otherindicia of its status, health, and other characteristics, leavingresponsibility for adjustment to the operator or, in acute cases,triggering safety systems designed to prevent failures. Further, suchapparatus track changes in those devices, processes, or systems,including for example operator-implemented changes to theirconfigurations.

Control is used in a number of fields. Process control, for example, isemployed in the manufacturing sector for process, repetitive anddiscrete manufactures, though, it also has wide application in utilityand other service industries. Environmental control finds application inresidential, commercial, institutional and industrial settings, wheretemperature and other environmental factors must be properly maintained.Control is also used in articles of manufacture, from toasters toaircraft, in order to monitor and control device operation.

Modern day control systems typically include a combination of fielddevices, controllers, workstations and other digital data processingapparatus, the functions of which may overlap or be combined. Fielddevices include temperature, flow and other sensors or transmitters thatmeasure characteristics of the subject device, process or system. Theyalso include valves, positioners, and other actuators that mechanically,electrically, magnetically, or otherwise effect the desired control.Increasingly, field devices are of the “intelligent” variety, including,for example, an on-board processor programmed to execute typical processcontrol functions, as described in commonly owned U.S. Pat. No.6,788,980 (“Methods and apparatus for control using control devices thatprovide a virtual machine environment and that communicate via an IPnetwork”), which is hereby incorporated by reference in its entirety.

Controllers generate settings for actuator-type field devices based onmeasurements from sensor-type field devices (though such control can beexecuted by smart field devices and other elements of the system aswell). Controller operation is typically based on a “control algorithm”that maintains a controlled system at a desired level, or drives it tothat level, by minimizing differences between the values measured by thesensors and, for example, a setpoint defined by the operator.

Workstations, control stations and the like are typically used toconfigure and monitor the process as a whole. They are often also usedto execute higher-levels of process control, e.g., coordinating groupsof controllers and responding to alarm conditions signaled by them.

In a food processing plant, for example, a workstation coordinatescontrollers that actuate conveyors, valves, and the like, to transportsoup stock and other ingredients to a processing vessel. The workstationalso configures and monitors the controllers that maintain the contentsof that vessel at a simmer or low boil. The latter operate, for example,by comparing measurements of vapor pressure in the processing vesselwith a desired setpoint. If the vessel pressure is too low, the controlalgorithm may call for incrementally opening the heating gas valves,thereby, driving the pressure and boiling activity upwards. As thepressure approaches the desired setpoint, the algorithm requiresincrementally leveling the valves to maintain the roil of the boil.

The field devices, controllers, workstations and other components thatmake up a control system typically communicate over heterogeneous media.Field devices connect with controllers, for example, over dedicated“fieldbuses” operating under proprietary or industry-specific protocols.Examples of these are FoxComm™, Profibus, ControlNet, ModBus®,DeviceNet, Foundation Fieldbus, among others. The controllers themselvesmay be connected to one another, as well as to workstations, viabackplane or other proprietary high-speed dedicated buses, such asNodebus™. Communications among workstations and plant orenterprise-level processors may be via Ethernet networks or otherInternet Protocol (IP) networks.

Wireless technology is an attractive option for implementing controlsystem communications, but current approaches invite improvement.

Accordingly, an object of the invention is to provide improved methodsand apparatus for process and other control systems. A related aspect ofthe invention is to provide such methods and apparatus as improvecommunications within such systems. A further object is to providerobust network connections for use in process and other controlenvironments, for example as a replacement or supplement to existingconnections between field devices, controllers, workstations, and otherdevices. A related object is to provide such connections and networksutilizing them as reduce the complexity and cost attendant to prior artprocess control and other control systems.

SUMMARY

The foregoing are among the objects attained by the invention, aspectsof which provide improved methods and apparatus for networking incontrol systems. In one such aspect of the invention, an improvedcontrol network includes a first node associated with at least onedevice (e.g., a controller, an actuator, a sensor, or otherwise) in acontrol system and a second node associated with at least one otherdevice in the system. According this aspect of the invention, the firstnode wirelessly transmits information for simultaneous, or substantiallysimultaneous, transfer over at least two communication pathways to thesecond node.

In further aspects of the invention, the first node wirelessly transmitsinformation for substantially simultaneous transfer over at least twopathways to the second node by broadcasting that information to othernodes in the control network that are in a transmission range of thefirst node (e.g., including the second node, if in range), which forwardit towards the destination node. In other aspects of the invention, thefirst node does so by wirelessly transmitting that information to atleast two selected nodes in the control network that are in atransmission range of the first node (e.g., the first node can selecttwo (or more) nodes, one of which may be the destination node, andaddress the information to those two (or more) nodes, which can thenforward the information towards the destination node, if necessary).

Related aspects of the invention provide an improved control network,e.g., as described above, in which the pathways over which the firstnode redundantly transmits information to the second node are defined byone or more network segments (e.g., contiguous network segments) thatinterconnect and extend between pairs of nodes in the control system.Thus, in related aspects, one or more of the pathways extends through atleast a third node (or additional nodes), which may be associated withanother device in the control system or may be a relay node that servesto relay messages but does not act as a destination.

Related aspects of the invention provide an improved control network,e.g., as described above, in which the first node wirelessly transmitsinformation over at least one segment of one of the pathways using atleast two different radio channels, which for example use differentfrequencies or frequency bands from one another. In related aspects ofthe invention, such node employs different wireless protocols on theradio channels.

Further aspects of the invention provide an improved control network,e.g., as described above, in which at least one device associated withthe first node communicates status, health, critical event, safetyand/or other system management information to at least one deviceassociated with the second node. Such devices can also communicatechange-tracking information to one another, e.g., regarding changes inthe configuration of one of the devices, the process, and/or the systemthat were implemented by an operator or other source.

Further aspects of the invention provide an improved control network,e.g., as described above, in which the devices associated with at leastthe first and second nodes form part of a control loop operating in thesystem, e.g., a control loop that maintains the control system at adesired level or drives it to that level, as a function of one or moremeasured values and one or more setpoints. Such devices can include acontroller, for example, and/or a communications module associatedtherewith, while others can include actuators, sensors, transmitters,positioners, or other control device.

Thus, for example, in an improved control network as described above,the controller associated with the first node and the control deviceassociated with the second node can form at least a portion of theaforementioned control loop.

Related aspects of the invention provide an improved control network,e.g., as described above, in which at least one of the first and secondnodes initiate communications with one another over the networksegments, that is, in the manner of a peer-to-peer connection.

According to further aspects of the invention, the first node of acontrol network, as described above for example, wirelessly transmitsinformation for simultaneous, or substantially simultaneous, transferover at least three pathways to the second node. At least one of thepathways, according to related aspects of the invention, can extendthrough a third node, and at least one can be through a fourth node,fifth node, or more.

Further aspects of the invention provide an improved control network,e.g., as described above, in which nodes are controllers and/or fielddevices, such as sensors or actuators.

In another aspect of the invention, an improved node is provided for usein a control network that has a plurality of nodes. The node includes acontrol device—such as a controller, sensor, actuator, or otherwise—anda communication module. The communications module wirelessly transmitsinformation for simultaneous, or substantially simultaneous, transferover at least two pathways to the at least one other node.

In related aspects of the invention, an improved network node, e.g., asdescribed above, includes a communication module that wirelesslytransmits information for substantially simultaneous transfer over atleast two pathways to the at least one other node by broadcasting theinformation to nodes in the control network that are in a transmissionrange of the network node (e.g., including the at least one other node,if in range). In other aspects of the invention, that communicationmodule does so by wirelessly transmitting the information to at leasttwo selected nodes in the control network that are in a transmissionrange of the network node (e.g., by selecting and addressing theinformation to those nodes, or otherwise, as previously mentioned).

Related aspects of the invention provide an improved node in a controlnetwork, e.g., as described above, in which the pathways are eachdefined by one or more network segments that interconnect and extendbetween pairs of nodes in the control network. Such pathways can extendthrough a third node, or more, e.g., as previously described.

Related aspects of the invention provide an improved node in a controlnetwork, e.g., as described above, in which the node's communicationmodule includes one or more radios that provide, collectively, aplurality of radio channels for wirelessly transmitting information overat least one segment of the at least two pathways to the at least oneother node. At least two of those radio channels can use differentfrequencies or frequency bands from one another. In related aspects,such a node can employ at least two different wireless protocols towirelessly transmit the same information simultaneously, orsubstantially so, to the at least one other node.

Related aspects of the invention provide an improved node in a controlnetwork, e.g., as described above, that transmits and/or receivesstatus, health, critical event, safety, change-tracking and/or othersystem management information with at least one other node.

Related aspects of the invention provide an improved node in a controlnetwork, e.g., as described above, in which the control device of thenode may form at least part of a control loop operable to maintain acontrol system at a desired level and/or drive it to that level, as afunction of one or more measured values and one or more setpoints.

In further aspects of the invention, an improved node in a controlnetwork is provided, e.g., as described above, in which both the nodeand the at least one other node are capable initiating wirelesscommunications with one another or otherwise operate in a peer-to-peermanner with one another.

Related aspects of the invention provide an improved node in a controlnetwork, e.g., as described above, in which the node wirelesslytransmits information for simultaneous, or substantially simultaneous,transfer to the at least one other node over at least three pathways, ormore. The node can use pathways that go through one or more intermediatenodes in the system before arriving at the at least one node.

Yet further aspects of the invention provide methods, e.g., method ofcommunicating information between first and second nodes in a controlnetwork, that parallel the operations described above.

These and other aspects of the invention are evident in the drawings anddiscussion that follows.

BRIEF DESCRIPTION OF THE DRAWINGS

A more complete understanding of the invention may be attained byreference to the following detailed description in conjunction with thedrawings, in which:

FIG. 1 depicts a control system incorporating a control network inaccord with one practice of the invention;

FIG. 2 depicts in greater detail a control system incorporating anetwork with wireless segments in accord with one practice of theinvention;

FIG. 3 depicts in more detail a wireless node of the network of FIG. 2;

FIG. 4 is an exemplary network diagram of the wireless segments shown inFIG. 2;

FIGS. 5 and 6 are controller panel sheets used to control and monitorcommunications among wireless nodes in a system according to theinvention; and

FIGS. 7 and 8 are network mesh diagrams of systems according to theinvention.

DETAILED DESCRIPTION

FIG. 1 depicts a process control system 10 according to one practice theinvention. The system includes networked control devices that monitorand control a hypothetical mixing process that utilizes mixing chamber22, fluid inlets 24, 26, fluid outlet 28, paddle 30, cooler 32, andcooler inlet 34. Though illustrated and described below for use inconnection with process control, those skilled in the art willappreciate that apparatus and methods according to the invention can beused in connection any industrial, manufacturing, service, environmentalor other process, device or system amenable to monitoring or control(hereinafter, collectively, “control”).

The networked control devices of the illustrated embodiment includeactuators, such as the valves depicted as controlling inlets and outlets24-28 and 34. A further actuator is shown controlling paddle 30. Theseand other actuators are constructed and operated in the conventionalmanner known in the art, as modified in accord with the teachingshereof. The actuators operate under control of respective field devicecontrollers, labeled CTL, that are also constructed and operated in theconventional manner to provide initialization, signal conditioning andcommunications functions.

Rather than using separate controllers CTL, the actuators can be of theintelligent variety and can include integral microprocessors or otherdigital data processing apparatus for control, initialization, signalconditioning, communications and other control-related functions. Forsake of convenience, the label CTL is used regardless of whether thecontrol-related functionality is integral to the actuators (e.g., as inthe case of intelligent actuators) or otherwise.

The networked control devices of the illustrated embodiment also includesensors, such as illustrated sensor 29 that monitors a temperature,level or other characteristic of fluid in chamber 22. The sensor 29, aswell as other sensing apparatus utilized by the system, are constructedand operated in the conventional manner known in the art, as modified inaccord with the teachings hereof. They can be coupled to the controlnetwork via a transmitter or other interface device INT that, too, isconstructed and operated in the conventional manner, as modified by theteachings hereof. The interface devices facilitate initialization,signal conditioning and communications between the sensors and thecontrol system. As above, one or more sensors can be of the intelligentvariety, incorporating integral microprocessors or other digital dataprocessing capabilities for initialization, signal conditioning,communications and other control-related functions. Here, too, the labelINT is used in reference to the control-related functionality,regardless of whether embodied in an intelligent transmitter orotherwise.

The networked control devices, e.g., in addition to the actuators andsensors, include one or more controllers 36 that monitor and controlrespective aspects of the hypothetical mixing process in theconventional manner, as modified in accord with the teachings hereof.The controllers can comprise mainframe computers, workstations, personalcomputers, special-purpose hardware or other digital data processingapparatus capable of performing conventional monitoring and controlfunctions. Controllers may be operated in the conventional manner knownin the art, as modified by the teachings hereof. Preferred controllersare constructed and operated in the manner of the control processors(“CP”) commercially available from the assignee hereof, such asTriconex® (a/k/a “Tricon”) and Trident™ controllers, as modified inaccord with the teachings herein.

The control system 10 includes a variety of control devices that serveas user interfaces and that provide configuration and/or controlfunctions, all in the conventional manner as modified in accord with theteachings hereof. Illustrated for these purposes are workstation 40,laptop computer 42 and handheld computer 44, and enabler 49. Thesecontrol devices can provide configuration and control functionsdirectly, as in the case of workstation 40, or in cooperation withserver devices, e.g., as in the case of handheld computer 44 and server46. These control devices, in cooperation with controllers, actuators,sensors, and other devices, can also provide health, status, criticalevent, and safety monitoring functions, as well asreporting/logging/recording and/or other change-tracking functions,e.g., for tracking the source and history of configuration and otherchanges in the system implemented by an operator or otherwise. Theillustrated apparatus can couple with the control network directly,e.g., via bus or network connection, or indirectly, e.g., via satellite,wireless connection or modem connection.

The control devices 36-46, CTL and INT are coupled for communicationsvia one or more segments of network 48. Those segments may comprisewired or other physical media links of the type known in the artsuitable for carrying information (e.g., in packets or otherwise)between the nodes. Wireless segments, in which the physical mediacomprises radio frequency electromagnetic waves or other over-air link,are preferably constructed and operated in accord with the teachingshereof. Wired and other segments, e.g., where the links are wire-based,optical fiber based, or based on other media, are constructed andoperated in the conventional manner known in the art, as adapted inaccord with the teachings hereof. For sake of simplicity, the term“segment” is typically used herein to refer to a physical media linkbetween one node and one or more other nodes. Preferred such networksegments are IP-based such as, by way of non-limiting example,Ethernets. Such network segments may also operate in accord withFoundation Fieldbus, HART®, FoxComm™, Modbus®, Lonworks®, Profibus, CANbus, other protocols/standards known in the industry, or otherwise. Thenetwork segment(s) can, as shown in the drawing, be formed in Internets,wide area networks, local area networks, and other arrangements known inthe art, as adapted in accord with the teachings hereof. They may alsoinclude high and/or low bandwidth components, such as phone lines, andlow and/or high latency components, such as geosynchronous satellitenetworks.

FIG. 2 depicts an exemplary portion 200 of a network of the typedescribed above in the control system 10 that is made up of wirelessnetwork segments communicatively coupling wireless nodes 202-216 withone another and to the segments of network 48 described above. In theillustrated embodiment, such wireless nodes include laptop 204, e.g.,operating as described above, and handheld device 206, which may be apersonal digital assistant, cell phone or other handheld device. Theillustrated embodiment also includes wireless nodes 208-214, which arecomprise wireless communication modules 208 a, 210 a, 212 a, 214 aassociated with control devices 208 b, 210 b, 212 b and 214 b,respectively. Yet other wireless nodes in the wireless network includewireless access point 202, which communicatively couples other wirelessnodes with control devices 36-46 on network segment(s) 48, or to otherdevices. Yet further, wireless node 216 is a relay (also referred to asa repeater), e.g., transferring information to and from wireless nodes238 and 240, which would otherwise be located outside the transmissionrange of the aforementioned wireless nodes 202-214. In the illustratedembodiment, wireless node 216 is a wireless communications module thatis not associated with a control device, in contrast to wireless nodes208-214.

Those skilled in the art will appreciate that the wireless nodesillustrated in FIG. 2 may be located throughout a plant or otherfacility and/or in different plants, facilities. Hence, in someimplementations, the wireless network 200 may extend across areas withina plant and/or across multiple plants.

The control devices 208 b-214 b that are associated with wireless nodes208-214, respectively, include actuators, sensors, controllers (such as,by way of non-limiting example, Triconex® and Trident™ controllers),workstations, and other control devices of the kind described previouslyin connection with FIG. 1. In the illustrated embodiment, control device208 b is an intelligent field device, such as an actuator or sensor,while control device 210 b is controller which is connected to othercontrol devices 218-224 via control bus 232, which operates in accordwith Ethernet, Foundation Fieldbus, Modbus, or any of the aforementionedcommunication protocols. Likewise, control device 212 b is a controllerconnected to another control device 226 via control bus 234, whilecontrol device 214 b is a controller connected to control devices228-230 via control bus 236. Those control devices 210 b-214 b operatein the manner previously described, e.g., in connection with controller36 of FIG. 1, to execute a control algorithm to monitor and/or controlone or more of the other control devices on their control bus, one ormore other control devices elsewhere in the control system, and/or oneor more other aspects of the control system.

FIG. 3 depicts wireless node 212 in more detail. In the illustratedembodiment, wireless node 212 is made up of wireless communicationmodule 212 a and control device 212 b. The wireless communication module212 a contains one or more radios (labeled “1” to “N”) for wirelesstransmission and reception of information, a communication controllerfor controlling the flow of information and processing incoming andoutgoing information, and input/output (I/O) circuitry 318 forinterfacing with communications link 300 to the control device 212 band/or other devices.

The one or more radios are capable of wirelessly transmitting and/orreceiving radio signals in accord with known wireless protocols, e.g.,using known modulation techniques, data encoding, and/or frequencies, asmodified by the teachings hereof. Examples of such protocols include thewifi/wireless Ethernet standards (802.11a/b/g/n/s), frequency modulation(FM) radio links, wpan protocol (e.g., 802.15.4) and/or the MicrosoftDirectBandF network. Still other supported protocols include Wibree andUltra-wideband (UWB), as well as industrial wireless protocols, such asthe ISA-SP100 standards (e.g., SP100.11a), Wireless HART® and Zigbee®,all by way of non-limiting example.

One or more of the radios may be arranged to provide one or morechannels operating at different center frequencies from one another(e.g., either at the same time or time-multiplexed) or in differentfrequency bands. For example, wireless Ethernet (e.g., 802.11a/b/g/n/s)can be configured to utilize one or more channels in the 2.4 Ghz or 5Ghz frequency bands. Such distributed-frequency operation may, in somecircumstances, advantageously lessen the risk of a communicationproblems due to electromagnetic interference from natural (e.g.,atmospheric activity), man-made (e.g., airwave congestion, jamming), orother sources.

With continued reference to FIG. 3, the communication controller 304 ismade up of an embedded processor or other logic circuitry, whichprovides control and supervisory functions for the wirelesscommunication module 212 a. The communication controller 304 may bufferincoming data and/or unpack or extract information from that data (e.g.,by unpacking packetized data, decompressing data, and so on) and/orexecute error checking routines, e.g., in accordance with a selectedprotocol, to the extent such functions are not performed by the radioequipment itself. For outbound communications, the communicationcontroller 304 assembles outgoing data that is received from the controldevice 212 b in accordance with one or more selected protocols and sendssuch formatted data to one or more of the radios for transmission. Insome cases, the communication controller 304 formats the same data inaccord with two or more different protocols, allowing the communicationmodule 212 a to send the same data to a recipient with differentprotocols, and/to use such different protocols for one or more of itsradios. The communication controller 304 also provides dataencryption/decryption functions. A bus 312 or other communicationpathway communicatively couples the communication controller 304,radios, and/or other components in the communication module 212 a. Itshould be appreciated that while the radios are illustrated as part ofthe communication module 212 a, they may be physically packaged asseparate units.

The control device 212 b depicted in FIG. 3 is an intelligent,programmable controller configured in a conventional manner, as modifiedby the teachings hereof. In alternate embodiments, it may comprise otherfunctionality of the type known in the art, such as actuators andsensors, or that otherwise serves to monitor and/or control aspects of acontrol system, all as adapted in accord with the teachings hereof.Illustrated control device 212 b includes a central processing unit(CPU) 306 and memory (random access memory 308 a and persistentread-only memory 308 b) for storing an embedded operating system,program/configuration data, control algorithms, messages from othernodes, and/or other information. A bus 310 or other link communicativelycouples these and/or other components in the control device 212 b.

In the illustrated embodiment, the control device 212 b further includesI/O circuitry 314 that provides an interface to a control bus 234, whichconnects the control device 212 b with device 226, as shown anddescribed previously in connection with FIG. 2. I/O circuitry 316provides an interface to a communications link 300 to wirelesscommunications module 212 a.

It should be appreciated that while in the illustrated embodiment thecommunication link 300 is a point-to-point connection, in otherembodiments, a multi-drop communications pathway may be employed, thusconnecting multiple control devices to one wireless communicationsmodule 212 b. In alternate embodiments the control device 212 b andcommunication module 212 a may be integrated to eliminate the I/Ointerface between them (e.g., by coupling buses 310 and 312, orotherwise).

Further, those skilled in the art will understand that the controldevice 212 b shown in FIG. 3 is merely one non-limiting example ofdevices of the type that are associated with wireless nodes in a controlsystem, and that, accordingly, such devices can vary widely in function.

Moreover, while the foregoing illustrates at least some typical types ofwireless nodes, it should be appreciated that any device(s) orcomponent(s) capable or sending and/or receiving information wirelesslycan function as a wireless node in control system 10. Some wirelessnodes may be associated with control devices in the control system.Other wireless nodes, such as wireless communication module 216 in FIG.2, may not be associated with control devices. Such wireless nodes mayfunction as repeater nodes (also referred to herein as “rebroadcast”nodes) servicing other destinations. Those skilled in the art willappreciate that virtually any number and combination of wireless nodescan be employed in such a system.

FIG. 4 is an exemplary network diagram of selected ones of the wirelessnodes and wireless segments described above in connection with FIGS. 2and 3. For clarity, the illustrated embodiment depicts selected ones ofthe wireless nodes 208-216, although those skilled in the art willappreciate that other wireless nodes, such as wireless nodes 202-206described above, are also incorporated into the wireless network, e.g.,in a manner consistent with the teachings herein.

More particularly, FIG. 4 depicts several wireless segments A to H, eachrepresented by single or double dotted lines extending between nodes208-216. For example, the pair of dotted lines (H) between wireless node208 and wireless node 210 represents a wireless network segment betweenthose two nodes that has two radio channels, which may operate atdifferent frequencies. The single dotted line (D) between wireless nodes208 and 212 represents a wireless network segment with a single radiochannel between those wireless nodes. It should be appreciated that thearrangement of single and double channels is illustrative only, as otherimplementations consistent with the teachings hereof are possible (e.g.,in which three or more channels are used).

The wireless segments A to H define multiple potential communicationpathways between a given wireless node that initiates a transmission ofinformation (an originating node) and a wireless node that receives thatinformation (a destination node). In the illustrated embodiment, anoriginating wireless node uses a plurality of different pathways totransmit information to another node, referred to herein as adestination node.

For example, in one embodiment, wireless node 208 (an originating node,in this example) transmits information to wireless node 212 (e.g., adestination node, in this example) by sending that information overwireless segment D (e.g., a first pathway) as well as wireless segmentsHG (e.g., a second pathway) by executing two wireless transmissions ofinformation. Originating node 208 selects those nodes to which it willwirelessly transmit information, e.g., based on a stored or discoverednetwork topology, a predetermined routing procedure, or other criteria.In this example, one of those transmissions is addressed to destinationnode 212 and one is addressed to wireless node 210 for relay todestination node 212. While in the illustrated embodiment segment G is awireless segment, in other embodiments segment G may be a wired link andthus wireless node 210 may relay the information (that is theinformation receive wirelessly from node 208) to node 212 via a wiredtransmission medium. The originating node may not know the ultimatepathway(s) that its two or more messages may take. Rather, in somecases, the originating node wirelessly transmits the information to twoor more other wireless nodes (one of those wireless nodes preferably,but not necessarily, being the destination node). Those wireless nodescan then forward the information to the destination node or anotherintermediate node, as appropriate and in accord with a predeterminedrouting procedure. In other cases, the originating node may know thetopology of the wireless nodes, as mentioned above and use thatinformation to determine, e.g., in advance, the pathway the informationwill traverse.

In other embodiments, an originating node effects those transmissions bybroadcasting information addressed to the destination node. Any nodesthat are in range of the originating node receive the information (e.g.,including the destination node, if in range). Those wireless nodes,other than the destination node, forward the information it towardsdestination node, e.g., based on a stored or discovered networktopology, or a predetermined routing procedure, or other criteria.

In the foregoing example, wireless node 210 functions as an intermediatenode, receiving data from originating node 208 over wireless segment Hand relaying that information to destination node 212 over wirelesssegment G (or, in alternate embodiment, wired segment G). Hence, thedestination node 212 receives the same information from the originatingnode 208 via two different pathways. The originating node, or anothernode, can embed an identifier into both sets of information beforetransmitting them. The destination node can use such information toassociate those redundant sets of information with one another. In otherembodiments, the wireless nodes may employ a path identifier (e.g.,pathway D or pathway HG) for tracking, diagnostic, or other purposes.Further, it should be appreciated that the originating node may utilizemore than two pathways to reach the destination node. To continue theforegoing example, for instance, originating node 208 may transmit thesame information to destination node 212 over pathways AEG, ABC, HFC,AEFC, and so on, in addition to those already mentioned above.

In many cases, the originating node wirelessly transmits information forsimultaneous (or substantially simultaneous) transfer over two or morepathways to the destination node. To continue with the foregoingexample, originating node 208 transmits information for simultaneous, orsubstantially simultaneous, transfer over pathways D and HG todestination node 212. (As described above, the originating node cantransmit the information by broadcasting it to other nodes, or bytransmitting it to two or more selected nodes, e.g., at the same time,or with another approach.) In this regard, the term ‘substantially’indicates that the transfer of information may not be exactlysimultaneous but approximately so. Differences in the time of transfermay be the result of the processing bottlenecks in the originatingand/or intermediate nodes, pipeline/queuing arrangements in those nodes,path length and propagation delays, differences in the radios, orwireless protocols (for example, if different protocols are used for thepathways), among other things.

In alternate embodiments, the originating node may schedule the timingof the transmission of information to the destination node, e.g., suchthat transfer over the two pathways is not substantially simultaneousbut still provides redundancy. For example, the originating node cansend information to the destination node at time T over a first pathwayand schedule transmission of that same information over a second pathwayat time T+N.

An intermediate node, such as wireless node 210 in pathway HG in theforegoing example, that receives information from the originating nodeinspects that information to determine if it is destined for anothernode. The intermediate node may inspect the destination address embeddedin the information and/or a path identifier specifying, e.g., thewireless segments over which the originating node intended thatinformation to travel. The intermediate node forwards that informationto the destination node, if that destination node is in range. It mayalso forward that information to a further intermediate node, e.g., onewhich it selects in accordance with the aforementioned destinationaddress, path identifier, and/or a wireless network topology. In somecases, the intermediate node may forward information based on apredetermined algorithm or rules, such as one requiring that informationcoming from node 208 is always forwarded to node 212.

In the illustrated embodiment, the wireless nodes 208-216 employmultiple channels on some segments and/or pathways. Hence, thetransmission of information from wireless node 208 to wireless node 212over pathway HG, for example, involves the transmission of informationover two or more channels from wireless node 208 to wireless node 210(wireless segment H) and over two or more channels from node 210 to node212 (wireless segment G). In order to effect transmission over multiplechannels, the originating node transmits the data at multiplefrequencies, or in different frequency bands, to another wireless node(e.g., a destination or intermediate node).

Wireless nodes 208-216 typically operate in a peer-to-peer fashion,either of those two communicating wireless nodes (and its associatedcontrol device, if any) capable of initiating communication with theother wireless node (and their associated control devices, if any).Wireless nodes are also typically capable of initiating communicationsat virtually any time, subject to the strictures of the applicablewireless protocol. For example, in some implementations the wirelessnetwork may use a timing or scheduling protocol in which communicationsare prohibited in selected time periods for power management or otherpurposes.

The information flowing between wireless nodes 208-216 may serve manydifferent purposes in a control system or other contexts. For example, adevice associated with one such wireless node may transmit—e.g., via thepathways described above, or otherwise—status, health, critical event,safety and/or other system management information to another deviceassociated with another wireless node, e.g., one that executes a systemmonitor application. Thus, upon entering an alarm or fault state, thatdevice reports the event to the system monitor via a wireless link,e.g., as described above. As another example, a control deviceassociated with a wireless node may transmit—e.g., via the pathwaysdescribed above or otherwise—information about configuration changes(e.g., implemented by an operator via workstation, handheld device, orother login/access utility) to another device that is associated withanother wireless node and that executes a change-tracking application.

In further embodiments, one or more wireless nodes, e.g., operating asdescribed above, may form a control loop in a control system. Forexample, referring to FIG. 2, control device 208 b may represent asensor that measures a physical condition, such as the temperature of anenclosure. Measured temperatures can be wirelessly communicated tocontrol device 212 b over multiple pathways simultaneously or otherwisein accord with the techniques previously described. Control device 212 bmay be a controller, for example, that executes a control algorithm tomaintain the temperature of the enclosure at a specified value.Continuing the example, control device 212 b issues commands to controldevice 226 (e.g., an actuator) that adjusts the level of heat applied tothe enclosure (e.g., by regulating a feed line for a boiler in thermalcommunication with the enclosure, or by other means). The increasedtemperature of enclosure is sensed by the sensor in control device 208b, providing feedback that completes the control loop. As such,real-time data relevant to the operation of the control loop flowsacross, among other things, wireless segments between wireless nodes 208and 212. In this case, the wireless nodes wirelessly transmittemperature measurements, though in other cases the wireless nodes maywirelessly transmit control commands, settings, configuration data, orother data within the control loop.

As those skilled in the art will understand, the foregoing is merely oneexample of a process control application and/or control loop. A widevariety of other implementations are possible, including those involvingadditional numbers and types of control devices that form real-timecontrol loop(s) or otherwise and that implement any of a variety ofcontrol strategies, e.g., defined by proportional integral derivative(PID) control, sequential function charts, ladder logic programming,and/or otherwise.

EXAMPLE

An exemplary wireless network in accordance with the foregoing wasconfigured and tested as described below. It should be understood thatthe following description of is provided for illustrative purposes only.

SUMMARY

Radio equipment comprised 802.11s (802.3 Ethernet over Wireless)compatible wireless units (“Radio Units”).

An existing wired Peer-Peer testbed was used. The testbed comprisedthree version 10.4 Tricons™, fitted with model 4351B TCM communicationmodules. Node 1, fitted with four TCMs, linked via the first TCM pairand two network switches to a Node 2 Tricon fitted with two TCMs. Node 1linked via the second TCM pair and a further two network switches toanother Node 2 Tricon likewise fitted with two TCMs. The two Node 2Tricons are referred to as N2X and N2Y.

The Tristation™ 4.5 test application comprised a single statement textprogram including multiple Peer-Peer send and receive blocks andperformance measurement. If N2X and N2Y had matching configurations,measured wired Peer-Peer performance between N1 and N2X, and N1 and N2Y,was the same. Alternatively, the test application can be implementedutilizing other conventional programming techniques, including forexample function block format programming, as modified by and inaccordance with the teachings hereof.

Substituting N2X left and right wired links and switches for separateredundant mesh radio networks, each operating at different selectedfrequency, yielded the same measured performance for N2X and N2Y. And noPeer-Peer errors or Triconex Enhanced Diagnostic Monitor (EDM) CRCerrors or timeout were detected, after several hours run.

Mesh links could be disabled and enabled without errors or detectableeffect on Peer-Peer performance. Only on degrading to single radio link,and almost fully disconnecting a radio antenna, could a quantity ofdropped radio packets sufficient to yield Peer-Peer errors and slowPeer-Peer data update be induced.

Tricon-to-radio maximum bandwidth requirements were estimated at 5.5megabits per second, incurred with the most asymmetric Peer-Peerconfiguration (i.e., one Tricon sending single block to maximum 50 otherTricons, and receiving the same).

Testbed

A Tricon (or, alternatively, Trident™) node can send up to 50 Peer-Peerblocks to other nodes. Each block can transfer up to thirty-two 32-bitintegers. The same quantities can be received. Send and receive blockidentifiers range 1 to 99. The highest allowable, set in Tristation, iscurrently 50.

Tristation controller panel sheets, as shown in FIGS. 5 and 6, were usedto control the test application and monitor status. The applicationincludes 99 send blocks, with identifiers 1 to 99. These could beselectively enabled, via control tags for the first and last send blockidentifier. Same for receive. The number of integers sent per block, 1to 32, could be specified.

The default arrangement was for N1 to be sending and receiving blocks 1to 50, each with maximum 32 integers. With N2X handling blocks 1 to 25,and N2Y handling blocks 26 to 50.

Block scheduling was found to be unnecessary. Rather, blocks within theselected first-to-last identifier range were kept enabled. The Triconinternally handles cycling round the blocks, sending up to 5 per Triconscan. Whether a block was sent would depend on if the Tricon had a freeslot in its internal 10-slot pending send list, when the block executes.Blocks clear from the list when the transaction completes.

The program included rentable send block counters forsent/acknowledged/error, as well as delta between sent and acknowledgecounters. With this configuration, sent and acknowledge countersaccumulate continuously, as do EDM send and receive counters. Errorcounter remains zero, as does EDM CRC error counter and timeout flags.Unless reset, delta remains between 0 and 10, according with the10-entry pending send list. A run yielded around 10 million sends and noerrors or timeout, for all three Tricons.

Of the 32 integers per block, only the first was active. Whether 1 or 32integers were sent had no bearing on measured performance.

Several items of data were packed into the integers displayed on eachcontroller panel sheet. This made best use of the possible number oflive update tags per sheet. This extended to packing data into thesingle sent integer. It was formatted V TTTT NN:

-   -   V is a sent 0 or 1 value, default 1. This may be changed, and        observed in the destination Tricon.    -   TTTT is current time. Comprises least significant digit of        current seconds (0 to 9). And current milliseconds (000 to 999).        So, 0000 to 9999 milliseconds.    -   NN is block identifier (01 to 99). Block identifiers are        included to check for example that data from send block 13,        arrives at receive block 13.

Controller panel sheet 1, shown in FIG. 5, provides an overview. Sheet2, shown in FIG. 6, displays V MT NN SSS, for each block, where SSS isappended send or receive block status as below. In this way, a dynamicoverview of 50 send or receive blocks is obtained.

Type Send Receive OK 0 Connected to a controller 0 Ready to receive datafrom node, ready to SEND sending controller 1 SEND initiated with 1 Newdata received, ready SENDFLG set to 1 for processing 2 SEND function isbusy sending data 3 Last SEND completed (receiving node has receivedSEND data) 4 SEND completed and new SEND initiated Error 100 Notconnected to controller node 101 Last SEND failed (communication problemwith receiving node) 102 Invalid SENDID, 102 Invalid RECVID, RECVNODE,or RECVID SENDNODE, or SENDID input input 103 Mismatched data type or103 Mismatched data type or number of values in SEND number of values inSEND and RECV function calls and RECV function calls 104 Number ofvalues specified by input N is out of range 105 More than one SEND 105More than one RECV function has same SENDID function has the same RECVID

If sheet 2 is observed, cycling of the Tricon internal scheduler isvisible. Regarding SSS, only 0-4 send and 0/1 receive status sequencingwas observed. No error codes 100 and above.

At the destination, how often a changed TTTT value was received wasmonitored, to determine update period (time taken to cycle round thereceive blocks).

Received TTTT was compared with our own, to determine transit time (howdelayed the data is, once it arrives). Tricon time synchronization wasenabled, so the systems were synchronized to within 25 ms.

Both values were found to be variable. So as well as displaying rawvalues, the values were filtered, and the highest raw values seen wererecorded. Filtered and highest values could be reset to raw values.

Also, update period and transit time were summed, and the highest sumseen was recorded. This revealed that highest update period and highesttransit time could occur together. So it would be legitimate to say thatthe two summed, was total delay to the data.

Time at which highest sum seen, was also recorded (in HHMMSSmmm integerformat). This was so to check for any common-cause external eventsaffecting all three Tricons.

The above is done separately for the first and last selected block. Forexample 1 and 50, for N1. These indicate communication performance toN2X and N2Y, respectively.

For N2X and N2Y, first and last block are both communicating with N1. Soonly the first figures are noted.

This arrangement means that an identical program for all three Triconscan be used. Only exception was initial values for the tags listed underControl, on the controller panel sheets. The arrangement also means thatthere can be used identical controller panel sheets, for all threeTricons. These are duplicated in the emulator panel for offline checks,or emulated Peer-Peer test.

First and last values are each packed into a single integer, in theformat FFFF LLLL.

The Tricon scan used is displayed. This rose by couple of millisecondsat most, when 50 blocks were selected as opposed to none. Blockprocessing is mainly handled asynchronously by the TCMs.

Reported Peer-Peer monitoring status is also displayed, for this nodeand the other node (1 and 2 for N1, 2 and 1 for N2X and N2Y). Thiscomprised communication OK (single link), and communication redundant(dual links).

Also TCM port status, comprised Net1 Left, Net1 Right, Net2 Left andNet2 Right. Peer-Peer was configured to use default Net1.

Lastly, slot status for the four TCMs, of which N2X and N2Y had onlytwo, is displayed.

Performance

Tricon scan and Peer-Peer performance can be maximized by minimizingallocated Tricon tag memory. Specifically, aliased memory or physicalI/O tag data accessible by external devices. Each scan, the Tricon mainprocessors transfer this data to the TCMs. Minimizing the data allowsthe main processors to concentrate on program execution, and TCMs toconcentrate on communication including Peer-Peer.

Lowering memory allocation to the minimum allows the Tricon scan periodto be set to 60 ms, of which about 50 ms used.

With 60 ms scan period, N1 exhibited a typical filtered update period of578 ms, with highest of 840 ms after a run. Figures for N2X and N2Y weretypical filtered 1193 ms, highest 1440 ms. These approximately doublebecause N2X received blocks 1-25, followed by lull while N2Y receivedblocks 26-50, and vice-versa.

Assuming each block is sent via standard 1518-byte Ethernet II frame,and acknowledged by standard 20-byte TCP header, for total of(1518+20)×8=12304 bits, used bandwidth in bits-per-second for each node,e.g., deduced as below.

Sent blocks per second were determined by monitoring send counter for 30seconds. These accorded with N1 received blocks per second. Andrepresented around 2.5 blocks per scan, being half the maximum of 5.

N1 Blocks sent per second  42 Blocks received per second  25 blocks/578ms × 1000 = 43 from N2X Blocks received per second  25 blocks/578 ms ×1000 = 43 from N2Y Total blocks per second  42 + 43 + 43 = 128 Totalbits per second 128 blocks × 12304 bits = 1 574 912

N2X Blocks sent per second 43 Blocks received per second 25 blocks/1193ms × 1000 = 21 from N1 Total blocks per second 43 + 21 = 64 Total bitsper second 64 blocks × 12304 bits = 787 456

N2Y Blocks sent per second 43 Blocks received per second 25 blocks/1193ms × 1000 = 21 from N1 Total blocks per second 43 + 21 = 64 Total bitsper second 64 blocks × 12304 bits = 787 456

Observe how higher N1 bandwidth is due in part to receiving from N2X andN2Y in parallel. In some implementations, N1 would likely receive 1block only from maximum 50 nodes (say 2X to 26X, and 2Y to 26Y), sogross parallel receive. And likely send 1 block only to each such node.

To simulate 2 of the 50, test was repeated, but with N2X sending block 1instead of 1-25, and N2Y sending block 2 instead of 26-50, yielding thefollowing N1 results. Extrapolating to a further 48 nodes yielded thisrequired bandwidth estimate:

N1 Blocks sent per second  45 Blocks received per second  1 block/121 ms× 1000 = 8 from N2X Blocks received per second  24 blocks × 8 = 192 fromN3X-N26X Blocks received per second  1 block/121 ms × 1000 = 8 from N2YBlocks received per second  24 blocks × 8 = 192 from N3Y-N26Y Totalblocks per second  45 + 8 + 192 + 8 + 192 = 445 Total bits per second445 blocks × 12304 bits = 5 475 280

To simulate also N2X and N2Y receiving 1 block only, test was repeated,but with N1 sending block 1 and 2 instead of 1-50, yielding thefollowing N2X and N2Y results:

N2X Blocks sent per second  7 Blocks received per second  1 block/117 ms× 1000 = 9 from N1 Total blocks per second  7 + 9 = 16 Total bits persecond 16 blocks × 12304 bits = 196 864

N2Y Blocks sent per second  6 Blocks received per second  1 block/138 ms× 1000 = 7 from N1 Total blocks per second  6 + 7 = 13 Total bits persecond 13 blocks × 12304 bits = 159 952

Radios

Five 802.11(s)-compatible radios were tested, comprising threedual-channel radios, and two single-channel radios. Two dual-channelradios were used for N1 and N2X left, with two single-channel radiosused for N1 and N2X right. Third dual-channel radio mounted ontest-stand constituted an optional rebroadcast (relay) station.

FIGS. 7 and 8 display two network mesh diagrams that are arranged thus:

N1 Left N2X Left Rebroadcast N1 Right N2X Right

Mesh connectivity was configured initially as shown in FIG. 7.Dual-radio to dual-radio links are shown dual-dashed, otherwisesingle-dashed. Single-channel radios, and first channel of dual-channelradios, were configured to operate at one frequency. Second channel ofdual-channel radios were configured to operate at different frequency.

After confirming that this setup worked it was modified to removeconnectivity between left and right, as shown in FIG. 8. And differentfrequencies were selected for left and right. Specifically 5.745 and5.825 GHz (channel numbers 149 and 165) for left dual-radios, 5.785 GHz(channel number 157) for right single-radios. Optional rebroadcaststation dual-radio was configured with first channel 5.745 GHz, secondchannel 5.785 GHz. This resulted in separate left and right meshnetworks, appearing in FIG. 8 as an inverted and non-inverted triangle.

It is envisaged that deployed, this network would comprise sixdual-channel radios, including separate rebroadcast stations for leftand right network. Left network would use two frequencies, right networkwould use two different frequencies, for a total of four, providingradio-channel quad redundancy. Rebroadcast (relay) stations aregenerally advantageous if no line of sight between nodes.

Described above are methods and apparatus meeting objects and goals setforth above. Those skilled in the art will appreciate that theembodiments shown in the drawings and described in the accompanying textare merely examples and that other embodiments, incorporatingmodifications and changes therein and including combinations offoregoing embodiments, fall within the scope of the invention. Thus, byway of non-limiting example, it will be appreciated that the stepsdepicted in the Figures may be performed in any suitable order, theordinal numbering of those steps herein notwithstanding, as it providedonly for explicative purposes.

1. A control network, comprising: a first node associated with at leastone device in a control system, a second node associated with at leastone device in the control system, wherein the first node is configuredto wirelessly transmit information for substantially simultaneoustransfer over at least two pathways to the second node wherein at leastone of the at least two pathways is through a third node that comprisesa relay node unassociated with a controller, an actuator, a sensor, atransmitter, or a positioner.
 2. The control network of claim 1, whereinthe control network comprises a plurality of nodes interconnected bynetwork segments extending between pairs of the plurality of nodes, eachof the at least two pathways being defined by one or more networksegments.
 3. The control network of claim 2, wherein the first node isconfigured to wirelessly transmit information over at least one networksegment of one of the at least two pathways using at least two differentradio channels.
 4. The control network of claim 3, wherein the at leasttwo different radio channels use different frequencies from one another.5. The control network of claim 1, wherein any of the at least onedevice associated with the first node and the at least one deviceassociated with the second node forms at least part of a control loopoperating to at least one of (i) maintain the control system at adesired level or (ii) drive it to that level, as a function of one ormore measured values and one or more setpoints.
 6. The control networkof claim 1, wherein the at least one device associated with the firstnode comprises any of a controller and a wireless communications modulecommunicatively coupled to a controller.
 7. The control network of claim6, wherein the at least one device associated with the second nodecomprises any of an actuator, a sensor, a transmitter, and a positioner(collectively referred to as “the associated control device”).
 8. Thecontrol network of claim 7, wherein the controller and the associatedcontrol device form at least part of a control loop operating to atleast one of (i) maintain the control system at a desired level or (ii)drive it to that level, as a function of one or more measured values andone or more setpoints.
 9. The control network of claim 1, wherein boththe first and second nodes are capable of initiating wirelesscommunications with one another.
 10. The control network of claim 1,wherein the first node is configured to wirelessly transmit informationfor substantially simultaneously transfer over at least three pathwaysto the second node.
 11. The control network of claim 1, wherein any ofthe at least one device associated with the first node and the at leastone device associated with the second node comprises a control device.12. The control network of claim 1, wherein the first node is configuredto wirelessly transmit information for substantially simultaneoustransfer over at least two pathways to the second node by broadcastingthe information to nodes in the control network that are in atransmission range of the first node.
 13. The control network of claim1, wherein the first node is configured to wirelessly transmitinformation for substantially simultaneous transfer over at least twopathways to the second node by wirelessly transmitting the informationto at least two selected nodes in the control network that are in atransmission range of the first node.
 14. A node in a control networkhaving a plurality of nodes, comprising: a control devicecommunicatively coupled to a communications module configured towirelessly transmit information to at least one other node, thecommunication module being operable to wirelessly transmit informationfor substantially simultaneous transfer over at least two pathways tothe second node wherein at least one of the at least two pathways isthrough a third node that comprises a relay node unassociated with acontroller, an actuator, a sensor, a transmitter, or a positioner. 15.The control network of claim 14, wherein the control network comprises aplurality of nodes interconnected by network segments extending betweenpairs of the plurality of nodes, each of the at least two pathways beingdefined by one or more network segments.
 16. The network node of claim15, wherein the communication module comprises one or more radioscollectively providing a plurality of radio channels for wirelesslytransmitting information over at least one segment of one of the atleast two pathways to the at least one other node.
 17. The network nodeof claim 16, wherein the plurality of radio channels comprises at leasttwo channels using different frequencies from one another.
 18. Thenetwork node of claim 14, wherein the control device comprises any of acontroller, an actuator, a sensor, a transmitter, and a positioner. 19.The network node of claim 14, wherein the control device forms at leastpart of a control loop operating to at least one of (i) maintain acontrol system at a desired level or (ii) drive it to that level, as afunction of one or more measured values and one or more setpoints. 20.The network node of claim 14, wherein both the network node and the atleast one other network node are capable of initiating wirelesscommunications with one another.
 21. The network node of claim 14,wherein the communications module is operable to wirelessly transmitinformation for substantially simultaneous transfer over at least threepathways to the at least one other network node.
 22. The network node ofclaim 14, wherein the communication module is operable to wirelesslytransmit information for substantially simultaneous transfer over atleast two pathways to the at least one other node by broadcasting theinformation to nodes in the control network that are in a transmissionrange of network node.
 23. The network node of claim 14, wherein thecommunication module is operable to wirelessly transmit information forsubstantially simultaneous transfer over at least two pathways to the atleast one other node by wirelessly transmitting the information to atleast two selected nodes in the control network that are in atransmission range of the network node.
 24. A method of communicatinginformation between a first and a second node in a control network, eachof the first and second nodes being associated with at least one devicein a control system, the method comprising: with the first node,wirelessly transmitting information for substantially simultaneoustransfer to the second node via first and second pathways (“redundantpathways”) wherein at least one of the redundant pathways is through athird node unassociated with a controller, an actuator, a sensor, atransmitter, or a positioner.
 25. The method of claim 24, wherein thecontrol network comprises a plurality of nodes interconnected by networksegments extending between pairs of the plurality of nodes, each of thefirst and second pathways being defined by one or more network segments.26. The method of claim 24, further comprising wirelessly transmittinginformation from the first node to the second node over at least onesegment of one of the redundant pathways using a plurality of radiochannels.
 27. The method of claim 26, wherein the plurality of radiochannels comprises at least two channels using different frequenciesfrom one another.
 28. The method of claim 24, further comprisingoperating a control loop to at least one of (i) maintain the controlsystem at a desired level or (ii) drive it to that level, as a functionof one or more measured values and one or more setpoints, wherein thecontrol loop comprises at least one of the devices associated with theat least one of the first and second nodes.
 29. The method of claim 28,wherein at least one of the devices associated with the at least one ofthe first and second nodes comprises any of a controller and a wirelesscommunications module communicatively coupled to a controller.
 30. Themethod of claim 29, wherein at least one of the devices associated withat least one of the first and second nodes comprises any of an actuator,a sensor, a transmitter, and a positioner (collectively referred to as“the associated control device”).
 31. The method of claim 30, whereinthe controller and the associated control device form at least part of acontrol loop operating to at least one of (i) maintain the controlsystem at a desired level or (ii) drive it to that level, as a functionof one or more measured values and one or more setpoints.
 32. The methodof claim 24, wherein both of the first and second nodes are capable ofinitiating wireless communications with one another over the controlnetwork.
 33. The method of claim 24, further comprising, with firstnode, wirelessly transmitting information for substantially simultaneoustransfer to the second node via first, second and third pathways(“triple redundant pathways”).
 34. The method of claim 24, whereinwirelessly transmitting information for substantially simultaneoustransfer to the second node via redundant pathways comprises, with thefirst node, broadcasting the information to nodes in the control networkthat are in a transmission range of the first node.
 35. The method ofclaim 24, wherein wirelessly transmitting information for substantiallysimultaneous transfer to the second node via redundant pathwayscomprises, with the first node, wirelessly transmitting the informationto at least two selected nodes in the control network that are in atransmission range of the first node.